EP0967121B1 - Procedure and control device for minimizing the consequence of an accident. - Google Patents

Procedure and control device for minimizing the consequence of an accident. Download PDF

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Publication number
EP0967121B1
EP0967121B1 EP19990109342 EP99109342A EP0967121B1 EP 0967121 B1 EP0967121 B1 EP 0967121B1 EP 19990109342 EP19990109342 EP 19990109342 EP 99109342 A EP99109342 A EP 99109342A EP 0967121 B1 EP0967121 B1 EP 0967121B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
accident
evaluation device
braking
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP19990109342
Other languages
German (de)
French (fr)
Other versions
EP0967121A2 (en
EP0967121A3 (en
Inventor
Stephan Kopischke
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
Original Assignee
Volkswagen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE19828693 priority Critical
Priority to DE1998128693 priority patent/DE19828693A1/en
Application filed by Volkswagen AG filed Critical Volkswagen AG
Publication of EP0967121A2 publication Critical patent/EP0967121A2/en
Publication of EP0967121A3 publication Critical patent/EP0967121A3/en
Application granted granted Critical
Publication of EP0967121B1 publication Critical patent/EP0967121B1/en
Anticipated expiration legal-status Critical
Application status is Expired - Lifetime legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265Automatic obstacle avoidance by steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/008Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for anti-collision purposes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512Passenger detection systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • B60T2201/024Collision mitigation systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00Interaction of vehicle brake system with other systems
    • B60T2260/02Active Steering, Steer-by-Wire
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems

Description

The invention relates to a method for minimizing the consequences of accidents in motor vehicles according to the preamble of claim 1 and a control device for implementation this procedure.

Systems for vehicles are known to the driver in critical situations in the Support way that an impending accident by optimal braking prevented as far as possible or at least the impact speed at the collision point is reduced to a minimum. Such an automatic braking system is under the general designation ABS used in many vehicles. The basic function of ABS is to prevent the wheels from locking in the event of an emergency stop The ability to steer the vehicle even when braking hard. The This enables the driver to close the collision point even when braking hard drive around and thereby avoid a collision, unless it is a unavoidable accident situation in which evasion from physical driving Reasons is no longer possible.

Systems are known which are accelerated or decelerated and / or prevent a collision of the vehicle with an obstacle by evasive maneuvers should. Such systems, referred to briefly as CAS (Collision Avoidance Systems) the vehicle should be able to do this from collision situations detected by sensors lead out that by a decoupled steering from the driver and thus independent Steering movements to be carried out by the driver and also independent of the driver controlled accelerations or decelerations of the vehicle a collision is avoided. A network is proposed in EP 0 582 236, which by means of Evaluation of surrounding images taken by a running CCD camera Evaluates the environment for possible collisions and uses additional signals from the Driving state of the vehicle influencing vehicle speed and Makes steering movement. Another solution is proposed by DE 43 02 527, in which by segmenting the road area to be monitored, including Condition information of the vehicle can be derived, such as through braking and Steering operations can avoid a detected obstacle. main problem of these proposed systems is their complexity, which one does not in practice represents realizable effort. Accident situations can also occur in this way surprisingly occur that avoiding the accident by early evasion is no longer possible.

EP 0 545 437 B1 describes a method for avoiding collisions between Motor vehicles known with which vehicles spaced apart in the direction of travel can be detected and the driver is warned of inadmissible approaches by means of warning messages. The driver then has the opportunity, due to the distance minimum not yet reached, initiate appropriate braking operations themselves. If it falls below a minimum permissible distance, the vehicle is automatically braked so that the sets the required safety distance again. In a sudden occurrence In the event of an accident, this system is only suitable for automatic emergency braking for optimal speed reduction.

DE 38 30 790 A1 also describes a method and a device for automatic collision avoidance of automatically guided vehicles known continuously detects collision risks using sensors. Will one If a collision risk is detected, the system guides the vehicle along a collision-free route Driving line around a recognized obstacle. However, an inevitable occurs Accident situation with an impending collision, there is a problem with this system Danger that the automatically steered vehicle from a more favorable collision position is brought into a collision position which is more unfavorable for the occupants.

DE 196 47 283 A1 describes a device for avoiding and / or minimizing Conflict situations known in road traffic that affect the driving behavior of a vehicle can control an inevitable accident situation. The driver is no longer in able to avoid an impending accident, the device engages and grasps Mitigation measures by, for example, hitting a Garbage can on the pavement colliding with one on the road preferred person. The device performs an automatic Steering function through, which requires a correspondingly high technical effort.

From EP 0 649 776 A2 (preamble of claim 1 or 6) is a system for monitoring and controlling known safety-relevant vehicle components, in which distance acceleration and operating state data processed in a computer unit and be linked. Depending on the dangerous situation, one after the other should Interventions in the braking and steering system are initiated to avoid accidents or in their To minimize impact.

The invention has for its object to provide a method for minimizing the consequences of accidents, especially with regard to the life and health of the vehicle occupants in the event of an inevitable collision, which can be implemented with the least possible technical outlay.

The solution to this problem is obtained with the features of claim 1.

The procedure is used to slow down the in an unavoidable accident situation made individual wheels in such a way that the vehicle in a Position that minimizes the consequences of the accident. In this way, one for the occupants of the Avoid vehicle critical impact angle or an unfavorable offset impact become. An evaluation device takes into account vehicle-specific features and the in the accident situation existing driving dynamics data such that a Reduction in the consequences of accidents is achieved. There are also a large number of different accident situations with respectively assigned, preferred impact target angles stored so that the evaluation device the required Control signals can be passed on to an automatic braking device in order to To turn the vehicle, for example, in the direction of the target impact angle.

According to a development of the invention, the are constantly changing Relative coordinates between the vehicle and an obstacle determined and the Rate of change of the relative coordinates to control the braking process used. The evaluation device can thus recognize whether a unavoidable accident situation and what characteristics the special Shows accident situation.

An inevitable accident situation is when evasion or stopping before the obstacle is no longer possible. The evaluation device can do this on the basis of recognize the limit values stored in a memory. Will these limits exceeded, the evaluation device initiates an automatic braking process in order to one if possible low impact energy and optimal vehicle alignment in the event of an impact to obtain. It can be a good idea to use a slightly higher one Allow impact speed if appropriate braking measures are taken but a more favorable impact position for the vehicle can be achieved. The one for that necessary decision criteria are preferably stored in a memory. on which the evaluation device can constantly access.

It may be advantageous to control the braking process depending on the Seat occupancy. Apart from the driver, there are no others in the vehicle Occupants can reduce the consequences of accidents for the driver Impact angle be favorable than would be the case when the vehicle is fully occupied.

The procedure can be such that in an inevitable accident situation initially there is a maximum deceleration of the vehicle speed before a correction the impact angle or position. Whether such a thing two-stage braking process can be used by the be made dependent on the present accident situation.

To carry out the method according to the invention, a Control device with the features of claim 7 proposed. The Control device comprises an evaluation device which is attached to the vehicle Environmental sensors environmental data and internal from the vehicle electronics Receives vehicle data and based on this data an inevitable accident situation recognizes and causes an individual braking of the individual wheels in such a way that the vehicle is aiming for a predetermined, optimal impact position. It can in particular a favorably chosen impact angle to minimize the consequences of the accident contribute. If, for example, an impending lateral sensor is used via the environmental sensors offset frontal impact can be detected by braking the wheels on one side Changing the angular position of the vehicle can be achieved for better To exploit the existing deformation areas on the vehicle.

In the preferred embodiment, the device has a memory that contains vehicle-specific features and limit values that are included in the evaluation device constantly compare the environmental data and vehicle data and to control the Braking process can be used in an accident situation. For different Vehicle types can have different characteristics in the memory Features can be stored, so that a reduction in the optimal Consequences of accidents even with different vehicles without great technical effort can be achieved. The characteristic features can be stored in the memory a large number of possible accident situations with the associated optimal target impact angles be stored, the target impact angle for different Vehicle types generally also have different values.

In the preferred device, the evaluation device controls one Brake control, which is part of an automatic braking system, braking the individual wheels. It can therefore be an automatic braking system that is present anyway be used, which increases the additional technical effort for the Keep the inventive method and the inventive device very small leaves. In an accident situation, the evaluation device takes over the brake control of the automatic braking system, while otherwise the automatic braking system in the is operated in a conventional manner.

The invention is illustrated below with the aid of one in the drawing Block diagram of the control device explained in more detail.

The control device has attached to a vehicle 1 in the front area Environment sensors 2 and also use vehicle data in the vehicle 1 located vehicle electronics 3. On the sketched vehicle 1 are the positions of the Environment sensors and vehicle electronics, for example with arrows 2 and 3 specified. Corresponding ones are in the block diagram of the control device Circuit blocks specified that the environmental sensors 2 and the vehicle electronics Represent 3.

From the environmental sensors 2 environmental data 4 arrive at a Evaluation device 5, which receives vehicle data 6 from the vehicle electronics. In a memory 7 connected to the evaluation device 5 are characteristic Characteristics of the vehicle and limit values as well as the associated ideal impact angle different accident situations. The evaluation device 5 can be constantly on access this data stored in the memory 7 and make a comparison with the current one Make environmental data and vehicle data. The environmental data is the Evaluation device transmits relative coordinates to possible obstacles 8 which the evaluation device in particular the shape and the distance of a Obstacle 8 can determine. The environmental sensors that act as radar can be formed, can also provide environmental data that it Evaluation device make it possible to distinguish whether the obstacle 8 is a vehicle or is a person or other object.

The vehicle data 6 can provide information about speed, seat occupancy, Vehicle weight, brake pedal position, accelerator position included. From the Environment data and vehicle data in connection with the characteristic Features from the memory 7 can be evaluated by the evaluation device 5 Brake control 9 targeted braking of the individual wheels R1 to R4 Make vehicle 1 in such a way that vehicle 1 has an optimal impact angle α related to the obstacle 8. In addition to the impact angle α, a optimal impact position for the vehicle 1 are aimed for.

In order to avoid the consequences of an accident that occur in an unavoidable accident situation To keep it low, the evaluation device 5 not only evaluates the environmental data 4 and the vehicle data 6, but takes into account in particular the vehicle-specific parameters or the characteristic features of the vehicle type, which are stored in memory 7. The data stored in the memory 7 can be in the form of a vehicle-specific map can be stored. For example, for one a map for the optimum impact angle depending on the specific vehicle type be stored in the memory 7 by the respective vehicle speed.

Claims (8)

  1. Method for minimizing the consequences of an accident in vehicles in which:
    ambient sensors (2), which are provided on the vehicle (1), continuously sense obstacles (8) located in or near to the direction of movement of the vehicle (1),
    state values relating to the dynamics of vehicle movement are continuously passed on, as vehicle data (6), to an evaluation device (5),
    the evaluation device (5) carries out a continuous limiting value comparison with the data fed to it, and, when an eminent, unavoidable accident situation is detected, it influences the vehicle by controlled braking and/or by means of an automatic steering procedure,
    characterized in that respectively assigned preferred impact setpoint angles (α) are stored for a plurality of different accident situations and the influencing of the vehicle consists in the fact that, when an unavoidable accident situation occurs, endeavours are made to achieve the relevant impact setpoint angle which minimizes the consequences of the accident by means of an automatic steering procedure and/or selective braking of the individual wheels (R1 to R2) of the vehicle (1).
  2. Method according to Claim 1, characterized in that the evaluation device (5) determines the continuously changing relative coordinates between the vehicle (1) and obstacle (8), and the speed of change of the relative coordinates is used to control the braking procedure.
  3. Method as claimed in one of the preceding claims, characterized in that an unavoidable accident situation is present if the evaluation device (5) detects that it is no longer possible to avoid or stop before the obstacle (8).
  4. Method according to one of the preceding claims, characterized in that the braking procedure is controlled as a function of the occupation of seats.
  5. Method according to one of the preceding claims, characterized in that, in an unavoidable accident situation, the evaluation device (5) decides, by reference to measured data and vehicle-specific features, whether and for how long a maximum deceleration of the speed of the vehicle is to take place before the impact angle or the impact position is corrected.
  6. Control device for carrying out the method for minimizing the consequences of an accident in vehicles according to one of Claims 1 to 5, having an evaluation device (5),
    which receives ambient data (4) from ambient sensors (2) mounted on the vehicle (1), and state values relating to the dynamics of vehicle movement, as vehicle data (6), from the vehicle electronics systems (3),
    which is provided for performing a continuous limiting value comparison on the data which is fed to it and for influencing a vehicle by controlled braking and/or by an automatic steering procedure when an imminent, unavoidable accident situation is detected,
    characterized in that respectively assigned preferred impact setpoint angles (α) are stored, in a memory (7) connected to the evaluation device (5), for a plurality of different accident situations and the influencing of the vehicle consists in the fact that, when an unavoidable accident situation occurs, endeavours are made to achieve the relevant impact setpoint angle which minimizes the consequences of the accident by means of an automatic steering procedure and/or selective braking of the individual wheels (R1 to R2) of the vehicle (1).
  7. Device according to Claim 6, characterized in that vehicle-specific features and limiting values which are continuously compared with the ambient data (4) and vehicle data (6) in the evaluation device (5) and are used to control the braking procedure in an accident situation are stored in the memory (7).
  8. Device according to Claims 6 or 7, characterized in that the evaluation device (5) controls the braking of the individual wheels (R1 to R4) by means of a brake controller (9) which is part of an automatic brake system.
EP19990109342 1998-06-26 1999-05-31 Procedure and control device for minimizing the consequence of an accident. Expired - Lifetime EP0967121B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE19828693 1998-06-26
DE1998128693 DE19828693A1 (en) 1998-06-26 1998-06-26 A method and control device for minimizing the consequences of accidents

Publications (3)

Publication Number Publication Date
EP0967121A2 EP0967121A2 (en) 1999-12-29
EP0967121A3 EP0967121A3 (en) 2000-09-27
EP0967121B1 true EP0967121B1 (en) 2004-01-02

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US (1) US6359553B1 (en)
EP (1) EP0967121B1 (en)
DE (2) DE19828693A1 (en)
ES (1) ES2213944T3 (en)

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DE19828693A1 (en) 1999-12-30
DE59908185D1 (en) 2004-02-05
EP0967121A3 (en) 2000-09-27
US6359553B1 (en) 2002-03-19
EP0967121A2 (en) 1999-12-29
ES2213944T3 (en) 2004-09-01

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